version: 66.08
glider: 169
mission: 2
dive: 360
start: 10 24 110 8 26 17
data:
$ID,169
$MISSION,2
$DIVE,360
$N_DIVES,367
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7149.5786
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.551537
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,241010,081907,2335.288,12607.991,27,1.0,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.6
$GPS2,241010,082549,2335.431,12607.938,15,1.8,15,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,188.1,248126,-19.5,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,111,0.00,0.00,-93.45,0.000,2,0.000,0.000,137,1977,3003,0,0,0,0,0,0
$GC,114,-0.69,-204.4,3.5,-5.0,12,149,9.77,1.90,-16.60,0.000,4,0.234,0.067,2490,3177,3927,0,0,0,0,0,0
$GC,180,-0.66,-204.4,31.6,-40.2,21,189,0.00,1.85,0.00,0.000,6,0.000,0.049,2490,2012,3928,0,0,0,0,0,0
$GC,547,-0.64,-204.4,137.8,-23.2,82,557,0.10,1.88,0.00,0.000,4,0.193,0.060,2513,3166,3929,0,0,0,0,0,0
$GC,589,-0.64,-204.4,146.7,-18.9,88,597,0.00,1.80,0.00,0.000,6,0.000,0.043,2514,2003,3929,0,0,0,0,0,0
$GC,950,-0.64,-204.4,212.0,-16.9,149,957,0.00,1.70,0.00,0.000,4,0.000,0.047,2514,868,3930,0,0,0,0,0,0
$GC,990,-0.65,-204.4,218.3,-17.0,155,996,0.00,1.80,0.00,0.000,6,0.000,0.045,2514,2055,3930,0,0,0,0,0,0
$GC,1347,-0.65,-204.4,272.5,-12.5,216,1355,0.00,1.73,0.00,0.000,4,0.000,0.054,2514,3168,3930,0,0,0,0,0,0
$GC,1382,-0.66,-204.4,276.8,-12.4,221,1389,0.00,1.77,0.00,0.000,6,0.000,0.040,2514,2003,3930,0,0,0,0,0,0
$GC,1730,-0.66,-204.4,319.7,-11.4,268,1734,0.00,1.80,0.00,0.000,4,0.000,0.054,2514,3169,3928,0,0,0,0,0,0
$GC,1768,-0.67,-204.4,323.4,-10.1,271,1772,0.00,1.75,0.00,0.000,6,0.000,0.040,2514,1999,3928,0,0,0,0,0,0
$GC,2099,-0.68,-204.4,363.2,-13.0,302,2103,0.00,1.83,0.00,0.000,4,0.000,0.054,2514,3168,3926,0,0,0,0,0,0
$GC,2127,-0.69,-204.4,367.0,-12.4,304,2136,0.00,1.77,0.00,0.000,6,0.000,0.040,2514,2004,3926,0,0,0,0,0,0
$GC,2455,-0.70,-204.4,405.6,-11.8,335,2459,0.00,1.80,0.00,0.000,4,0.000,0.054,2514,3168,3924,0,0,0,0,0,0
$GC,2481,-0.71,-204.4,408.4,-10.8,337,2484,0.00,1.75,0.00,0.000,6,0.000,0.040,2514,1998,3924,0,0,0,0,0,0
$GC,2814,-0.72,-204.4,443.8,-10.1,368,2817,0.00,1.85,0.00,0.000,4,0.000,0.054,2514,3178,3922,0,0,0,0,0,0
$GC,2851,-0.74,-204.4,447.4,-9.8,371,2855,0.00,1.80,0.00,0.000,6,0.000,0.039,2514,2003,3922,0,0,0,0,0,0
$GC,3183,-0.75,-204.4,480.5,-10.1,402,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2001,3920,0,0,0,0,0,0
$GC,3502,-0.76,-204.4,511.5,-9.5,432,3506,0.00,1.83,0.00,0.000,4,0.000,0.052,2514,3168,3917,0,0,0,0,0,0
$GC,3526,-0.78,-204.4,513.8,-9.2,434,3530,0.10,1.75,0.00,0.000,6,0.119,0.039,2473,1999,3917,0,0,0,0,0,0
$GC,3856,-0.78,-204.4,554.5,-13.0,465,3860,0.00,1.85,0.00,0.000,4,0.000,0.057,2473,3168,3914,0,0,0,0,0,0
$GC,3930,-0.79,-204.4,563.2,-10.3,471,3937,0.00,1.75,0.00,0.000,6,0.000,0.042,2473,2002,3914,0,0,0,0,0,0
$GC,4265,-0.80,-204.4,606.0,-13.2,501,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2001,3911,0,0,0,0,0,0
$GC,4575,-0.80,-204.4,645.1,-12.0,516,4578,0.00,1.85,0.00,0.000,4,0.000,0.057,2473,3168,3908,0,0,0,0,0,0
$GC,4644,-0.82,-204.4,652.5,-10.1,519,4648,0.00,1.80,0.00,0.000,6,0.000,0.043,2473,2004,3907,0,0,0,0,0,0
$GC,4977,-0.82,-204.4,687.7,-10.5,535,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2003,3904,0,0,0,0,0,0
$GC,5287,-0.83,-204.4,720.2,-10.6,550,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2003,3902,0,0,0,0,0,0
$GC,5596,-0.84,-204.4,754.2,-11.2,565,5599,0.00,1.85,0.00,0.000,4,0.000,0.059,2473,3167,3900,0,0,0,0,0,0
$GC,5688,-0.85,-204.4,763.7,-10.6,569,5692,0.00,1.77,0.00,0.000,6,0.000,0.044,2473,2000,3899,0,0,0,0,0,0
$GC,6021,-0.86,-204.4,799.8,-10.7,585,6025,0.00,1.83,0.00,0.000,4,0.000,0.058,2473,3167,3896,0,0,0,0,0,0
$GC,6083,-0.87,-204.4,806.0,-9.6,587,6089,0.00,1.77,0.00,0.000,6,0.000,0.044,2473,2000,3896,0,0,0,0,0,0
$GC,6399,-0.88,-204.4,838.8,-10.6,603,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1999,3893,0,0,0,0,0,0
$GC,6708,-0.89,-204.4,871.3,-10.6,618,6712,0.00,1.85,0.00,0.000,4,0.000,0.058,2473,3175,3891,0,0,0,0,0,0
$GC,6763,-0.91,-204.4,876.8,-10.0,620,6768,0.10,1.83,0.00,0.000,6,0.116,0.046,2433,2000,3892,0,0,0,0,0,0
$GC,7085,-0.91,-204.4,921.5,-14.2,636,7088,0.00,1.85,0.00,0.000,4,0.000,0.061,2433,3168,3888,0,0,0,0,0,0
$GC,7141,-0.92,-204.4,928.9,-12.6,638,7144,0.00,1.77,0.00,0.000,6,0.000,0.047,2432,2004,3888,0,0,0,0,0,0
$GC,7462,-0.92,-204.4,972.2,-13.7,654,7466,0.00,1.85,0.00,0.000,4,0.000,0.061,2433,3171,3886,0,0,0,0,0,0
$GC,7490,-0.92,-204.4,976.1,-13.7,655,7494,0.00,1.80,0.00,0.000,6,0.000,0.047,2433,1998,3886,0,0,0,0,0,0
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7671,begin apogee
$GC,7676,-0.18,0.0,1000.2,13.6,664,7854,0.73,0.08,170.68,1.276,6,0.136,0.106,2662,2092,3091,0,0,0,0,0,0
$STATE,7855,end apogee,CONTROL_FINISHED_OK
$STATE,7855,begin climb
$GC,7857,0.69,204.4,1010.6,0.0,672,8062,0.80,1.88,194.05,1.251,4,0.060,0.046,2957,967,2255,0,0,0,0,0,0
$GC,8157,0.67,204.4,987.2,16.5,686,8161,0.00,1.85,0.00,0.000,6,0.000,0.040,2957,2138,2247,0,0,0,0,0,0
$GC,8485,0.66,204.4,931.4,17.2,702,8489,0.00,1.80,0.00,0.000,4,0.000,0.046,2965,958,2240,0,0,0,0,0,0
$GC,8512,0.65,204.4,926.0,17.6,703,8516,0.00,1.83,0.00,0.000,6,0.000,0.041,2964,2152,2240,0,0,0,0,0,0
$GC,8840,0.63,204.4,868.6,17.4,719,8844,0.00,1.67,0.00,0.000,4,0.000,0.048,2964,3270,2238,0,0,0,0,0,0
$GC,8873,0.62,204.4,862.3,17.7,720,8878,0.15,1.77,0.00,0.000,6,0.193,0.036,2934,2078,2237,0,0,0,0,0,0
$GC,9195,0.61,206.8,815.6,13.8,736,9199,0.00,1.65,0.00,0.000,4,0.000,0.047,2942,967,2236,0,0,0,0,0,0
$GC,9295,0.61,214.9,801.3,13.5,740,9308,0.00,1.75,7.05,0.929,6,0.000,0.040,2936,2148,2214,0,0,0,0,0,0
$GC,9618,0.61,224.5,758.3,13.5,756,9633,0.00,1.70,10.88,1.007,4,0.000,0.046,2935,3269,2175,0,0,0,0,0,0
$GC,9671,0.60,224.5,750.0,15.6,757,9678,0.00,1.80,0.00,0.000,6,0.000,0.035,2944,2093,2172,0,0,0,0,0,0
$GC,9988,0.60,224.5,703.3,14.6,773,9992,0.00,1.70,0.00,0.000,4,0.000,0.046,2953,961,2169,0,0,0,0,0,0
$GC,10043,0.59,224.5,694.9,14.3,775,10048,0.08,1.80,0.00,0.000,6,0.159,0.040,2927,2143,2169,0,0,0,0,0,0
$GC,10367,0.59,232.5,650.8,13.5,791,10381,0.00,1.85,8.10,0.905,4,0.000,0.046,2936,966,2142,0,0,0,0,0,0
$GC,10434,0.60,236.4,641.4,13.7,794,10443,0.00,1.80,5.10,0.757,6,0.000,0.040,2935,2144,2128,0,0,0,0,0,0
$GC,10757,0.59,240.3,597.3,13.7,810,10770,0.00,1.77,4.75,0.706,4,0.000,0.045,2944,968,2111,0,0,0,0,0,0
$GC,10783,0.59,240.3,593.5,14.5,812,10786,0.00,1.75,0.00,0.000,6,0.000,0.040,2944,2148,2111,0,0,0,0,0,0
$GC,11114,0.58,240.3,548.2,13.9,843,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2149,2109,0,0,0,0,0,0
$GC,11433,0.58,240.3,505.2,14.4,873,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2149,2108,0,0,0,0,0,0
$GC,11755,0.60,266.6,462.8,12.7,903,11785,0.00,1.90,24.98,0.903,4,0.000,0.045,2953,960,2003,0,0,0,0,0,0
$GC,11843,0.62,278.2,450.9,13.4,910,11860,0.00,1.83,11.70,0.828,6,0.000,0.040,2953,2142,1955,0,0,0,0,0,0
$GC,12188,0.62,286.0,404.0,13.5,942,12200,0.00,0.00,7.18,0.727,6,0.000,0.000,2953,2141,1925,0,0,0,0,0,0
$GC,12516,0.62,286.0,359.0,14.3,973,12520,0.00,1.80,0.00,0.000,4,0.000,0.044,2961,969,1921,0,0,0,0,0,0
$GC,12597,0.62,288.6,347.1,13.8,980,12601,0.08,1.80,0.00,0.000,6,0.142,0.038,2936,2153,1921,0,0,0,0,0,0
$GC,12929,0.70,347.3,306.7,11.2,1011,12989,0.00,1.85,53.20,0.796,4,0.000,0.042,2944,960,1674,0,0,0,0,0,0
$GC,13057,0.78,406.4,292.3,11.2,1027,13115,0.08,1.83,50.17,0.771,6,0.049,0.037,3005,2145,1433,0,0,0,0,0,0
$GC,13467,0.77,406.4,218.6,16.5,1095,13474,0.00,1.83,0.00,0.000,4,0.000,0.043,3014,965,1426,0,0,0,0,0,0
$GC,13553,0.77,406.4,203.3,16.3,1109,13560,0.12,1.77,0.00,0.000,6,0.161,0.037,2980,2153,1424,0,0,0,0,0,0
$GC,13915,0.77,406.4,148.6,14.1,1170,13924,0.00,1.80,0.00,0.000,4,0.000,0.043,2988,971,1423,0,0,0,0,0,0
$GC,13987,0.82,437.5,139.2,12.5,1181,14020,0.00,1.77,25.80,0.645,6,0.000,0.035,2988,2154,1305,0,0,0,0,0,0
$GC,14371,0.93,522.4,91.9,10.0,1245,14445,0.12,1.90,69.07,0.617,4,0.080,0.041,3067,965,960,0,0,0,0,0,0
$GC,14510,0.94,522.4,72.6,14.3,1264,14519,0.10,1.80,0.00,0.000,6,0.131,0.034,3032,2149,957,0,0,0,0,0,0
$GC,14878,1.08,627.3,31.5,9.1,1325,14969,0.12,1.83,82.60,0.559,4,0.083,0.039,3112,967,531,0,0,0,0,0,0
$STATE,15048,end climb,SURFACE_DEPTH_REACHED
$STATE,15048,begin surface coast
$FINISH,0.2,1.021583
$STATE,15068,end surface coast,CONTROL_FINISHED_OK
$STATE,15068,begin surface
$SM_CCo,15085,12.12,0.060,1,0,481,640.23
$SM_GC,0.86,0.00,0.00,12.12,0.000,0.000,0.060,149,2056,481,-8.07,0.88,640.23
$IRIDIUM_FIX,2328.57,12608.91,241010,040412
$TT8_MAMPS,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.5,52.375
$10V_AH,10.0,44.087
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.900,111.825,725.300,12.125,0.000,25.312,42.961,198.926,0.000,0.000,16.793,3347.046,7456.988,703.780,3694.388,291.525,0.000,2074.712,0.000,3435.635,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,105.570,1276.020,60.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.645,0.000,1872.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333624
$DATA_FILE_SIZE,80079,1352
$CAP_FILE_SIZE,168555,0
$CFSIZE,260165632,234258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140,342.3,1
$GPS,241010,123907,2334.076,12606.839,38,1.0,38,-3.5